fix(focas): decode cnc_rdmacro dec_val at offset 6; vacant/fractional macros go Bad
The ODBM wire payload is [i32 mantissa][i16 length, a constant 10][i16 dec_val]. ReadMacroAsync read the decimal at offset 4, so every macro decoded without failing but wrongly: the captured #500 = 1.0 (05 f5 e1 00 00 0a 00 08) published 0.01. FANUC normalises macros to a 9-significant-digit mantissa, so the error was never small. - dec_val is read at [6..7]; a payload < 8 bytes is refused, not guessed at. - A vacant variable (dec_val 0xFFFF) publishes BadNoData, never a Good 0. - Integer-typed tags get the exact whole value (integer arithmetic); a fractional macro on an integer tag is BadTypeMismatch, a whole value that does not fit the type BadOutOfRange. Float tags get mantissa / 10^dec. Ported from the sister ignitionoee FOCAS driver v0.15.0 (Focas.Wire-013, Focas-017/018); live vectors from Makino Z-34184 (31i-B, G431). Adds a WireFixtures helper that loads the raw 31i-B captures in Fixtures/v3.
This commit is contained in:
Joseph Doherty
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using System.Buffers.Binary;
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using Shouldly;
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using Xunit;
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using ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
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namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
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/// <summary>
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/// <c>cnc_rdmacro</c> (0x0015) decode, pinned to real FANUC 31i-B payloads. Ported from the
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/// sister ignitionoee FOCAS driver's v0.15.0 fix (review finding Focas.Wire-013 / Focas-017).
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/// </summary>
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/// <remarks>
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/// The on-wire <c>ODBM</c> payload is 8 bytes: <c>[0..3] i32 mantissa</c>,
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/// <c>[4..5] i16</c> — a <b>constant 10</b> on every observed response (a length field, NOT the
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/// decimal), and <c>[6..7] i16 dec_val</c> (<c>0xFFFF</c> = vacant). Reading the decimal at
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/// offset 4 decodes every macro on every control without ever failing — just wrongly: the
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/// captured <c>#500 = 1.0</c> (<c>05 f5 e1 00 00 0a 00 08</c>) read as <c>100000000 / 10^10 =
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/// 0.01</c>. FANUC normalises a macro to a 9-significant-digit mantissa, so the live vectors
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/// below (Makino Z-34184, 2026-08-05) all carry large mantissas.
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/// </remarks>
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[Trait("Category", "Unit")]
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public sealed class FocasMacroDecodeTests
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{
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private static byte[] Odbm(int mantissa, int decVal, int lengthField = 10)
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{
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var p = new byte[8];
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BinaryPrimitives.WriteInt32BigEndian(p.AsSpan(0, 4), mantissa);
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BinaryPrimitives.WriteUInt16BigEndian(p.AsSpan(4, 2), (ushort)lengthField);
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BinaryPrimitives.WriteUInt16BigEndian(p.AsSpan(6, 2), (ushort)(decVal & 0xFFFF));
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return p;
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}
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[Fact]
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public void ParseMacro_decodes_the_live_capture_with_the_decimal_at_offset_6()
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{
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var payload = WireFixtures.Payload("ref-macro-500-0x0015.bin", 0x0015);
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var m = FocasWireClient.ParseMacro(500, payload);
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m.Number.ShouldBe((short)500);
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m.Value.ShouldBe(100_000_000);
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m.Decimal.ShouldBe((short)8); // offset 6 — NOT the constant 10 at offset 4
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m.IsVacant.ShouldBeFalse();
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m.Scaled!.Value.ShouldBe(1.0, 1e-12);
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}
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[Fact]
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public void ParseMacro_ignores_the_length_field_at_offset_4()
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{
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var a = FocasWireClient.ParseMacro(508, Odbm(148_500_000, 6));
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var b = FocasWireClient.ParseMacro(508, Odbm(148_500_000, 6, lengthField: 0));
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b.ShouldBe(a);
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b.Scaled!.Value.ShouldBe(148.5, 1e-9);
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}
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[Theory]
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[InlineData(270_000_000, 6, 270.0)] // #502
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[InlineData(148_500_000, 6, 148.5)] // #508
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[InlineData(208_850_000, 4, 20885.0)] // #610
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[InlineData(202_608_050, 1, 20_260_805.0)] // #3011 date
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[InlineData(-100_000_000, 12, -1.0e-4)] // #802
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[InlineData(969_479_000, 9, 0.969479)] // #801
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[InlineData(1234, 0, 1234.0)]
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public void ParseMacro_scales_the_live_vectors(int mantissa, int dec, double expected)
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{
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FocasWireClient.ParseMacro(1, Odbm(mantissa, dec)).Scaled!.Value.ShouldBe(expected, 1e-9);
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}
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[Fact]
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public void A_vacant_macro_has_no_value_not_zero()
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{
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var m = FocasWireClient.ParseMacro(611, Odbm(0, 0xFFFF));
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m.Decimal.ShouldBe((short)-1);
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m.IsVacant.ShouldBeTrue();
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m.Scaled.ShouldBeNull();
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}
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[Fact]
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public void A_genuine_zero_is_not_vacant()
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{
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var m = FocasWireClient.ParseMacro(3901, Odbm(0, 0));
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m.IsVacant.ShouldBeFalse();
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m.Scaled.ShouldBe(0.0);
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}
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[Theory]
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[InlineData(0)]
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[InlineData(4)]
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[InlineData(6)]
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[InlineData(7)]
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public void ParseMacro_refuses_a_payload_too_short_to_carry_dec_val(int length)
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{
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Should.Throw<FocasWireException>(() => FocasWireClient.ParseMacro(1, new byte[length]));
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}
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// ---- published value / quality ----
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[Fact]
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public void Float64_publishes_the_scaled_value_good()
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{
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var (value, status) = WireFocasClient.MapMacro(FocasWireClient.ParseMacro(508, Odbm(148_500_000, 6)), FocasDataType.Float64, null);
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status.ShouldBe(FocasStatusMapper.Good);
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value.ShouldBe(148.5);
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}
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[Fact]
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public void Int32_publishes_the_exact_whole_value_not_the_mantissa()
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{
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var (value, status) = WireFocasClient.MapMacro(FocasWireClient.ParseMacro(502, Odbm(270_000_000, 6)), FocasDataType.Int32, null);
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status.ShouldBe(FocasStatusMapper.Good);
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value.ShouldBe(270);
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}
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[Fact]
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public void A_fractional_macro_on_an_integer_tag_is_bad_not_truncated()
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{
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var (value, status) = WireFocasClient.MapMacro(FocasWireClient.ParseMacro(508, Odbm(148_500_000, 6)), FocasDataType.Int32, null);
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status.ShouldBe(FocasStatusMapper.BadTypeMismatch);
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value.ShouldBeNull();
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}
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[Theory]
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[InlineData(FocasDataType.Float64)]
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[InlineData(FocasDataType.Float32)]
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[InlineData(FocasDataType.Int32)]
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public void A_vacant_macro_is_bad_for_every_type(FocasDataType type)
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{
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var (value, status) = WireFocasClient.MapMacro(FocasWireClient.ParseMacro(611, Odbm(0, 0xFFFF)), type, null);
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status.ShouldBe(FocasStatusMapper.BadNoData);
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value.ShouldBeNull();
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}
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[Fact]
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public void A_whole_macro_out_of_range_for_its_integer_type_is_bad()
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{
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// 70000 is whole, but does not fit Int16.
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var (value, status) = WireFocasClient.MapMacro(FocasWireClient.ParseMacro(1, Odbm(700_000_000, 4)), FocasDataType.Int16, null);
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status.ShouldBe(FocasStatusMapper.BadOutOfRange);
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value.ShouldBeNull();
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}
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}
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@@ -0,0 +1,31 @@
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using ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Wire;
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namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
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/// <summary>
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/// Loads the raw FOCAS response PDUs under <c>Fixtures/v3/</c> — byte-for-byte captures from a
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/// real FANUC 31i-B (Makino, series G431) — and splits them into response blocks with the
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/// production <see cref="FocasWireProtocol.ParseResponseBlocks"/>. The <c>live-*</c> captures
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/// were taken by the sister ignitionoee FOCAS driver's read-only probes of Z-34184 (2026-08-12)
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/// and are shared verbatim; the <c>ref-*</c> ones are this repo's own 2026-06-25 capture.
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/// </summary>
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internal static class WireFixtures
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{
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private const int PduHeaderLength = 10;
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/// <summary>Every response block of the named capture, in wire order.</summary>
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/// <param name="name">File name under <c>Fixtures/v3/</c>.</param>
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/// <returns>The parsed response blocks.</returns>
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public static IReadOnlyList<ResponseBlock> Blocks(string name)
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{
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var raw = File.ReadAllBytes(Path.Combine(AppContext.BaseDirectory, "Fixtures", "v3", name));
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return FocasWireProtocol.ParseResponseBlocks(raw.AsSpan(PduHeaderLength));
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}
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/// <summary>The payload of the first block carrying <paramref name="command"/>.</summary>
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/// <param name="name">File name under <c>Fixtures/v3/</c>.</param>
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/// <param name="command">The FOCAS command id to locate.</param>
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/// <returns>That block's payload bytes.</returns>
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public static byte[] Payload(string name, ushort command) =>
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Blocks(name).First(b => b.Command == command).Payload;
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}
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+5
@@ -19,6 +19,11 @@
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</PackageReference>
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</ItemGroup>
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<ItemGroup>
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<!-- Real FANUC 31i-B response captures (raw PDUs); read by WireFixtures. -->
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<None Include="Fixtures\v3\*.bin" CopyToOutputDirectory="PreserveNewest"/>
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</ItemGroup>
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<ItemGroup>
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<ProjectReference Include="..\..\..\src\Drivers\ZB.MOM.WW.OtOpcUa.Driver.FOCAS\ZB.MOM.WW.OtOpcUa.Driver.FOCAS.csproj"/>
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</ItemGroup>
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